Gil Lopes

University of Maia · Department of Communication Sciences and Information Technologies

The acquisition of the body temperature of animals kept in captivity in biology laboratories is crucial for several studies in the field of animal biology. Traditionally, the acquisition process was carried out manually, which does not guarantee much accuracy or consistency in the acquired data and was painful for the animal. The process was then s...

Service robots are rapidly transitioning from concept to reality, making significant strides in development. Similarly, the field of prosthetics is evolving at an impressive pace, with both areas now being highly relevant in the industry. Advancements in these fields are continually pushing the boundaries of what is possible, leading to the increas...

The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying...

The rapid ageing of the worldwide population raises pressing concerns related to ensuring proper healthcare and quality of life for older adults. A human-like mobile domestic robot, named CHARMIE, is being produced to aid in these situations by performing household chores, thus increasing the autonomy of persons with mobility limitations. The prese...

This paper presents a solution for an autonomously driven vehicle (a robotic car) based on artificial intelligence using a supervised learning method. A scaled-down robotic car containing only one camera as a sensor was developed to participate in the RoboCup Portuguese Open Autonomous Driving League competition. This study is based solely on the d...

In this work, a large-scale tactile detection system is proposed, whose development is based on a soft structure using Machine Learning and Computer Vision algorithms to map the surface of a forearm sleeve. The current application has a cylindrical design, whose dimensions intend to be like a human forearm or bicep. The model was developed assuming...

In controlled environments, the hexapod limbs actuation can be controlled as a closed system. However, the increase of the terrain complexity implies an adaptation of their trajectory based on the robot interactions with the environment. Thus, the implementation of terrain data to the legs actuation potentially improves the hexapod quasi-static sta...

Robotic products and services are quickly getting into people’s homes, and it is important to prepare the youngsters for new challenges. One way to motivate them is through competitive events [1] . Back in 2006, the Laboratory of Automation and Robotics [2] at the University of Minho [3] , Guimarães, Portugal, created a new event called Robo...

Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that builds a 3D computational model from the configuration of a robotic system. The orientation of the robot’s li...

This work deals with the modeling process of a new three dimensional human-like robot for an inverse dynamic analysis. This robot intends to be utilized by caregivers to assist persons with reduced mobility (such as the elderly). The model under analysis is composed by 24 rigid bodies: 3 to represent the robot’s base and locomotion, 4 for the lower...

Hexapod locomotion in unstructured environments relies on an efficient posture adjustment with the terrain topology. This paper presents a strategy to adapt the hexapod torso orientation through ground plane estimation. With an Inertial Measurement Unit (IMU) and the robot kinematic model, the current supporting feet coordinates are calculated, and...

Generating adaptive locomotion has seen a growing interest for the design of hexapods due to improving the autonomy of these robots, allowing them to execute tasks in more demanding environments. Data from the robot’s surrounding must be acquired and processed to adjust the locomotion, and aid with the actuation of the six limbs. This paper aims at...

The global population is ageing at an unprecedented rate. With changes in life expectancy across the world, three major issues arise: an increasing proportion of senior citizens; cognitive and physical problems progressively affecting the elderly; and a growing number of single-person households. The available data proves the ever-increasing necess...

The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation o...

Purpose of Review With the growing interest for STEM/STEAM, new robotic platforms are being created with different characteristics, extras, and options. There are so many diverse solutions that it is difficult for a teacher/student to choose the ideal one. This paper intends to provide an analysis of the most common robotic platforms existent on th...

An anthropomorphic mobile manipulator robot (CHARMIE) is being developed by the University of Minho's Automation and Robotics Laboratory (LAR). The robot gathers sensorial information and processes using neural networks, actuating in real time. The robot's two arms allow object and machine interaction. Its anthropomorphic structure is advantageous...

We present the classification results of a supervised algorithm of road images containing amphibians. We used a prototype of a mobile mapping system composed of a scanning system attached to a traction vehicle capable of recording road surface images at speed up to 30 km/h. We tested the algorithm in three test situations (two control and one real)...

This paper presents a solution to the problem of motion control of an autonomous robot, moving in a dynamical and unstable environment. It is based on non-linear dynamical systems, modelling the state variables that define the motion of a robot under an omnidirectional platform, like its direction of navigation and velocity. The approach used, is b...

This paper presents the design of a framework for a didactic kit for control studies based on a rotary inverted pendulum. One of the challenges was to involve students in the design of the platform. This first version of the kit was developed by students of the Integrated Master on Industrial Electronics and Computers Engineering at the University...

The involvement of children and adolescents in robotics is on demand by the many robotics events and competitions all over the world. This non-deterministic world is more attractive, fun, hands-on and with real results than computer virtual simulations and 3D worlds. It is important, by different reasons, to involve people of all ages in an area th...

Purpose The purpose of this paper is to characterise the TWIN-RRT* algorithm which solves a motion planning problem in which an agent has multiple possible targets where none of them is compulsory and retrieves feasible, “low cost”, asymptotically optimal and probabilistically complete paths. The TWIN-RRT* algorithm solves path planning problems fo...

This paper intends to present a different approach to solve the Self-Localization problem regarding a RoboCup's Middle Size League game, developed by MINHO team researchers. The method uses white field markings as key points, to compute the position with least error, creating an error-based graphic where the minimum corresponds to the real position...

This paper presents a road surface scanning system that operates with a trichromatic line scan camera with light emitting diode (LED) lighting achieving road surface resolution under a millimeter. It was part of a project named Roadkills—Intelligent systems for surveying mortality of amphibians in Portuguese roads, sponsored by the Portuguese Scien...

In order to achieve underwater acoustic high data-rate and real time communications, it is essential to implement a system that operates both at high and wideband frequencies using digital modulations. Therefore, to reduce the time and cost of developing acoustic communications an emulator of a physical layer model was implemented, allowing to test...

Roads have multiple effects on wildlife; amphibians are one of the groups more intensely affected by roadkills. Monitoring roadkills is expensive and time consuming. Automated mapping systems for detecting roadkills, based on robotic computer vision techniques, are largely necessary. Amphibians can be recognised by a set of features as shape, size,...

Suppl. Materials about Franch, M., Silva, C., Lopes, G., Ribeiro, F., Trigueiros, P., Seco, L., Sillero, N., 2015. Where to look when identifying roadkilled amphibians? Acta Herpetologica 10, 103–110. doi:10.13128/Acta_Herpetol-16441

Robot World Cup Initiative (RoboCup) is a worldwide competition proposed to advance research in robotics and artificial intelligence. It has a league called RoboCup soccer devoted for soccer robots , which is a challenge because robots are mobile, fully autonomous, multi-agents, and they play on a dynamic environment. Moreover, robots must recogniz...

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – S...

A presente divulgação diz respeito a um dispositivo para captura de imagens de uma via terrestre e método de operação, em particular um sistema digitalizador da superfície de estradas de alta resolução policromático e georreferenciado através de câmara linear e iluminação, de preferência LED. A presente divulgação descreve um sistema digitalizador...

This paper describes the design and implementation of a self-balancing two-wheeled robot, the Equilibrist Robot. The system is similar to the classical unstable, non-linear mechanical control problem of an inverted pendulum on a cart. Using the Linear Quadratic Regulator method and PID for state feedback, this paper shows a control algorithm that s...

Oceans have shown tremendous importance and impact on our lives. Thus the need for monitoring and protecting the oceans has grown exponentially in recent years. On the other hand, oceans have economical and industrial potential in areas such as pharmaceutical, oil, minerals and biodiversity. This demand is increasing and the need for high data rate...

This paper presents a laboratorial curricular unit program running in the 1st semester, 4th year of the Integrated Master in Industrial Electronics at the University of Minho. In Project I curricular unit, students designed, developed and implemented an inverted pendulum platform where different control algorithms were tested. Project specification...

Eye tracking as an interface to operate a computer is under research for a while and new systems are still being developed nowadays that provide some encouragement to those bound to illnesses that incapacitates them to use any other form of interaction with a computer. Although using computer vision processing and a camera, these systems are usuall...

Purpose The purpose of this paper is to present the methodology and the results on the design and development of an autonomous, golf ball picking robot, for driving ranges. Design/methodology/approach The strategy followed to develop a commercial product is presented, based on prior identification requirements, which consist of picking up golf bal...

Omnidirectional RoboCup MSL robots often use catadioptric vision systems in order to enable 360° of field view. It comprises an upright camera facing a convex mirror, commonly spherical, parabolic or hyperbolic, that reflects the entire space around the robot. This technique is being used for more than a decade and in a similar way by most teams. T...

One of the most important tasks on robot soccer is localiza-tion. The team robots should self-localize on the 18 x 12 meters soccer field. Since a few years ago the soccer field has increased and the corner posts were removed and that increased the localization task complexity. One important aspect to take care for a proper localization is to find...

This paper describes the new generation of Minho Team robots since the last RoboCup participation. Robots have been rebuilt from top to bottom, keeping the essence of the previous generation, but lighter, faster, improved sight, new algorithms and new technology. The demands of RoboCup MSL are very high and a new breed of robots was necessary to co...

This paper describes a study carried out with K-12 students. This study proposes to understand the motivation of these students in the use of robots in the Project Area curricular unit and whether they want to continue their studies in technology areas. K-12 students participated in the RoboParty^® event, where the main task is to assembl...

This paper briefly describes the main changes on Minho Team robots since the last RoboCup participation. Work has been carried out on the robots in order to constantly improve their capabilities, based on the experience from previous participations. The team stopped for one year in order to implement structural changes and to add new features. The...

After the academic year, summer comes and students spend some time at home without anything to do. It is time to rest but summer is long. In order to prepare youngsters for the future, the University of Minho organizes short courses (one week long) called "Summer on Campus", on which students can work on the university laboratories, feeling the exc...

This paper introduces an innovative method to solve the problem of self localization of a mobile autonomous robot, and in particular a case study is carried out for robot localization in a RoboCup field environment. The approach here described is completely different from other methods currently used in RoboCup, since it is only based on the use of...

Fibre lasers are an attractive option for laser microwelding applications because of their high beam quality which gives a small spot size. In this paper, the results of an investigation into the micro-welding of stainless steel using a 100 W fibre laser are reported. Continuous and pulsed modes of operation were investigated in terms of penetratio...

Fibre lasers are an attractive option for laser micro-welding applications because of their high beam quality which gives a small spot size. In this paper, the results of an investigation into the micro-welding of stainless steel using a 100 W fibre laser are reported. Continuous and pulsed modes of operation were investigated in terms of penetrati...

Enabling a mobile robot to achieve its self -localization in real -time with vision only, demands for new approaches and new computer algorithms. An approach for giving game field self-localization to a Middle Size RoboCup Soccer robot can be based in two steps: finding the game field lines and evaluating the obtained coordinates calculating the ro...